Design And Application Of Underground Personnel Positioning System Based On WSN And Inertial Navigation

In the recent years, China’s coal industry is playing a more and more important role inthe energy field, coal mine production safety issues are becoming the concern of theparties. Based on the distribution characteristics and production conditions in China’s coalmine, coal mining relies on persons. Therefore, both from the production efficiency andmine rescue, coal enterprises have the urgent needs of miners positioning, but most of thecoal mine safety and production monitoring system being used can not meet the demand.Therefore, the underground personnel positioning system with high accuracy and real-timeis of great significance.Based on the above, the underground personnel positioning technology has beenresearch and a positioning system has been designed. The coal mine is a closedenvironment with complex terrain and serious environmental interference, the system hasthe need to achieve the positioning and monitor environmental parameters at the sametime. The self-organizing wireless sensor network is selected for coal mine safetymonitoring personnel positioning, and its wireless communication, data acquisition andinformation processing functions can be used. By analyzing the attenuation of indoor radiosignal under different conditions, the received signal strength indicator (RSSI) of wirelesssensor network (WSN) is used for positioning. For the one-dimensional characteristics ofthe roadway underground, an improved weighted centroid localization algorithm isdesigned. It ensure good positioning effect and reduce the node layout density, thecomplexity of the algorithm and system cost at the same time.The interference of environmental factors can not be avoided while using the radiosignal for positioning. In order to further improve positioning accuracy, inertial navigationtechnology is introduced as auxiliary positioning and the positioning system can be run inthe harsh environment underground. Inertial navigation, as the autonomous positioningmethod, can avoid the underground harsh environment. Based the personal walkingposture features and according to the change in angle of the foot posture, the read-timeattitude heading reference system and the zero velocity update (ZUPT) method have beendesigned. The problem of excessive error accumulation in inertial navigation has been overcome and the effect of the wireless sensor network positioning has been improved.The overall design of the underground personnel positioning system is presented, theimplementation of software and hardware module is introduced, monitoring and databasepart in the positioning system is designed and the final coal mine personnel positioningsystem is completed.